CN113693715B

CN113693715B - Energy adapter and minimally invasive surgery robot

Info

Publication number: CN113693715B
Application number: CN202111274669.6A
Authority: CN
Inventors: 王迎智; 王干; 齐斌
Original assignee: Apeiron Surgical Beijing Co Ltd
Current assignee: Apeiron Surgical Beijing Co Ltd
Priority date: 2021-10-29
Filing date: 2021-10-29
Publication date: 2022-01-18
Anticipated expiration: 2041-10-29
Also published as: CN113693715A

Abstract

The invention provides an energy adapter and a minimally invasive surgery robot, wherein the energy adapter comprises a framework and a bipolar shaft assembly; the framework is provided with an electrode column, and the electrode column is used for being connected with a high-frequency energy generator so as to receive unipolar energy or bipolar energy; the double-pole shaft assembly comprises a double-pole shaft which is used for being in transmission connection with a motor of the minimally invasive surgery robot, two ends of the double-pole shaft are rotatably connected with the framework, an instrument channel for instruments to pass through is arranged in the double-pole shaft, and the double-pole shaft is used for being in transmission connection with the instruments; the bipolar shaft comprises a first conductive part, a second conductive part and an insulating part, the first conductive part and the second conductive part are insulated through the insulating part, the electrode column is electrically connected with the instrument through the first conductive part and/or the second conductive part, so that when one of the first conductive part and the second conductive part is electrically conducted with the electrode column, the instrument acquires unipolar energy transmitted by the electrode column, and when the first conductive part and the second conductive part are simultaneously electrically conducted with the electrode column, the instrument acquires bipolar energy transmitted by the electrode column.

Description

Energy adapter and minimally invasive surgery robot

Technical Field

The invention relates to the technical field of medical instruments, in particular to an energy adapter and a minimally invasive surgery robot.

Background

At present, a high-frequency surgical instrument (also called a high-frequency electric knife) is an electric surgical instrument for cutting tissues, and can be used for cutting tissues and blood vessels in an abdominal cavity. Hf surgical instruments have two modes of operation, monopolar and bipolar, which are generally used separately. Because the external diameters of the monopolar electric knife and the bipolar electric knife of the high-frequency surgical instrument are larger, the multifunctional channel of the minimally invasive surgery robot is difficult to penetrate, and the monopolar electric knife and the bipolar electric knife are difficult to meet the telescopic requirement of the minimally invasive surgery robot, the requirement of being matched with the minimally invasive surgery robot for use is difficult to meet, so that the minimally invasive surgery robot is difficult to cut.

Disclosure of Invention

The embodiment of the invention provides an energy adapter and a minimally invasive surgical robot, and aims to solve the technical problem that a high-frequency surgical instrument is difficult to be matched with the surgical robot in the related technology.

In order to solve the technical problem, the invention is realized as follows:

in a first aspect, an embodiment of the present invention provides an energy adapter applied to a minimally invasive surgical robot, including: a backbone and a bipolar shaft assembly;

the framework is provided with an electrode column, and the electrode column is used for being connected with a high-frequency energy generator of external energy equipment and receiving monopolar energy or bipolar energy transmitted by the high-frequency energy generator;

the bipolar shaft assembly comprises a bipolar shaft which is in transmission connection with a motor of the minimally invasive surgery robot, two ends of the bipolar shaft are rotatably connected to the framework, an instrument channel for instruments of the minimally invasive surgery robot to pass through is arranged in the bipolar shaft, and the bipolar shaft is in transmission connection with the instruments;

the bipolar shaft comprises a first conductive part, a second conductive part and an insulating part, the first conductive part and the second conductive part are connected through the insulating part, the electrode column passes through the first conductive part and/or the second conductive part is electrically connected with the instrument, so that the first conductive part and one of the second conductive parts are electrically connected with the electrode column, the instrument acquires monopolar energy transmitted by the electrode column, and the first conductive part and the second conductive part are simultaneously electrically connected with the electrode column, the instrument acquires the bipolar energy transmitted by the electrode column.

In a second aspect, embodiments of the present invention provide a minimally invasive surgical robot, including a base, a control adapter, a multifunctional channel, an instrument, and the above-mentioned energy adapter;

the multifunctional passage device is connected with the base, and the base provides support and power for the multifunctional passage device;

the control adapter is used for detecting whether the instrument enters a working state or not, and the control adapter, the energy adapter and the multifunctional channel device are sequentially arranged and communicated with one another;

the instrument comprises a control handle and a tail end tool which are connected, wherein the tail end tool sequentially penetrates through the control adapter, the energy adapter and the multifunctional channel device.

In the embodiment of the invention, the energy adapter has the following advantages:

the embodiment can match an external device (such as a high-frequency surgical instrument) with the minimally invasive surgery robot through the energy adapter, and can transmit monopolar energy or bipolar energy transmitted by a high-frequency energy generator of the high-frequency surgical instrument to an instrument of the minimally invasive surgery robot, so that the instrument can adapt to different surgical site operations; when the instrument of the minimally invasive surgical robot rotates, the energy adapter can still uninterruptedly transmit monopolar energy or bipolar energy to the instrument so that the instrument has piercing capacity, and therefore the cutting function is achieved; the bipolar shaft is internally provided with an instrument channel for instruments to penetrate through, so that a sterile channel can be provided for the instruments of the minimally invasive surgical robot, and the bipolar shaft is in transmission connection with the instruments penetrating through the bipolar shaft so as to drive the instruments to rotate when the bipolar shaft rotates; in addition, the energy adapter has fewer parts, simple structure and small occupied space, and is beneficial to the development of the minimally invasive surgical robot to miniaturization.

Drawings

Fig. 1 is a schematic structural diagram of a minimally invasive surgical robot according to an embodiment of the present invention.

FIG. 2 is a schematic structural diagram of an energy adapter according to an embodiment of the present invention;

FIG. 3 shows an exploded view of FIG. 2;

FIG. 4 is a schematic view of a bipolar shaft assembly of an energy adaptor according to an embodiment of the present invention;

FIG. 5 shows the exploded view of FIG. 4;

FIG. 6 is a schematic representation of a first electrically conductive half-shaft of an energy adapter according to an embodiment of the present invention;

fig. 7 is a schematic structural diagram of a first insulating sheet of an energy adapter according to an embodiment of the present invention;

fig. 8 is a schematic structural diagram of a first electrode loop of an energy adaptor according to an embodiment of the present invention;

fig. 9 is a schematic structural diagram of a second electrode loop of an energy adaptor according to an embodiment of the present invention;

FIG. 10 is a partially schematic, alternate perspective view of a bipolar shaft assembly of an energy adapter in accordance with embodiments of the present invention;

FIG. 11 shows a schematic cross-sectional view of C-C of FIG. 10;

fig. 12 is a schematic structural view of an insulating sleeve of an energy adapter according to an embodiment of the invention;

fig. 13 is a schematic structural view of a second metal ring of an energy adapter according to an embodiment of the present invention;

fig. 14 is a schematic structural diagram of a worm of an energy adapter according to an embodiment of the present invention.

Reference numerals:

42: an instrument; 421: a tip tool; 427: a control handle; 46: a multifunctional channel device; 47: an energy adapter; 48: a control adapter;

471: a framework; 4711: a first mounting plate; 47111: a first through hole; 4712: a second mounting plate; 47121: a second through hole; 4713: a third mounting plate; 47131: a third through hole; 4714: a fourth mounting plate; 47141: a fourth through hole; 4715: a third mounting hole;

472: a worm; 4721: a first mounting section; 4722: a first transition section; 4723: a gear segment; 4724: a second transition section; 4725: a second mounting section; 4726: a transfer section; 47261: a transfer slot;

473: a worm gear;

474: a bipolar shaft assembly; 4740: a bipolar shaft; 4741: a first conductive half shaft; 47410: a first spline; 47411: a first clamping surface; 47412: a second clamping surface; 47413: a first groove; 47414: a third groove; 4742: a second conductive half shaft; 47420: a second spline; 47421: a third clamping surface; 47422: a fourth clamping surface; 47423: a second groove; 47424: a fourth groove; 4743: an insulating clamping plate; 47431: a first insulating sheet; 47432: a second insulating sheet; 47433: a first bump structure; 4745: an instrument channel;

475: an electrode column;

476: a first metal ring; 4761: a first connection hole; 4762: a first boss;

477: a second metal ring; 4771: a second connection hole; 4772: a second boss;

478: an insulating shaft sleeve; 4781: a first nesting section; 47811: a first opening; 4782: a second nesting section; 47821: a second opening; 4783: a shoulder section;

481: a first electrode sheet; 4811: a first arcuate structure;

482: a second electrode sheet; 4821: a second arc-shaped structure;

483: a support; 484: an insulating retainer ring; 485: a first insulating sleeve; 486: and a second insulating sleeve.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

In an embodiment of the present invention, an energy adapter is provided, referring to fig. 1, which may be applied to a minimally invasive surgical robot, and referring to fig. 2 to 4, the energy adapter 47 may specifically include: backbone 471 and bipolar shaft assembly 474; an electrode column 475 is arranged on the framework 471, and the electrode column 475 is used for being connected with a high-frequency energy generator of external energy equipment and receiving unipolar energy or bipolar energy transmitted by the high-frequency energy generator; the bipolar shaft assembly 474 comprises a bipolar shaft 4740 which is used for being in transmission connection with a motor of the minimally invasive surgery robot, two ends of the bipolar shaft 4740 are rotatably connected with the framework 471, an instrument channel 4745 for an instrument 42 of the minimally invasive surgery robot to pass through is arranged in the bipolar shaft, and the bipolar shaft 4740 is used for being in transmission connection with the instrument; the bipolar shaft 4740 includes a first conductive portion, a second conductive portion, and an insulating portion, the first and second conductive portions being insulated by the insulating portion, the electrode column 475 being electrically connected to the instrument 42 via the first and/or second conductive portions such that the instrument 42 receives monopolar energy delivered by the electrode column 475 when one of the first and second conductive portions is in electrical communication with the electrode column 475, and the instrument 42 receives bipolar energy delivered by the electrode column 475 when both the first and second conductive portions are in electrical communication with the electrode column 475.

As shown in fig. 1, the minimally invasive surgical robot includes a base, a control adapter 48, a multi-functional tunneler 46, an instrument 42, and an energy adapter 47. The multi-functional passage 46 is connected to a base, which provides support and power for the multi-functional passage 46; the control adapter 48 is used to detect whether the instrument 42 is in an operative state; the control adapter 48, the energy adapter 47 and the multifunctional channel device 46 are arranged in sequence and communicated with each other; the instrument 42 includes a control handle 427 and an end tool 421 connected, the end tool 421 passing through, in sequence, a control adaptor 48, an energy adaptor 47 and a multi-functional channel 46.

Specifically, as shown in fig. 2 and 3, the energy adaptor 47 includes a frame 471 and a bipolar shaft assembly 474, wherein an electrode column 475 is disposed on the frame 471, and the electrode column 475 is used for connecting with a high-frequency energy generator of an external energy source device so as to receive monopolar energy or bipolar energy transmitted by the high-frequency energy generator. The external energy source equipment can be a high-frequency surgical instrument which can replace a scalpel to cut tissues, and the high-frequency surgical instrument cuts tissues and blood vessels through high-frequency high-voltage current (high-frequency energy) generated by the tip of an effective electrode.

Specifically, as shown in fig. 4, bipolar shaft assembly 474 includes bipolar shaft 4740, bipolar shaft 4740 being adapted for driving connection with a motor of a minimally invasive surgical robot such that the motor can drive bipolar shaft assembly 474 for rotation. The two ends of the dipole shaft 4740 are rotatably connected to the bobbin 471, that is, the dipole shaft 4740 can rotate relative to the bobbin 471. An instrument channel 4745 is formed in the bipolar shaft 4740, the instrument channel 4745 is used for the instrument 42 of the minimally invasive surgical robot to pass through, and the bipolar shaft is used for being in transmission connection with the instrument 42, so that the rotation of the bipolar shaft 4740 can drive the instrument 42 to rotate.

Specifically, the bipolar shaft 4740 includes a first conductive portion, a second conductive portion, and an insulating portion, the first and second conductive portions being insulated by the insulating portion such that the first conductive portion forms a first electrode when electrically conducted with the electrode post 475 and the second conductive portion forms a second electrode when electrically conducted with the electrode post 475. In practice, the electrode post 475 is electrically connected to the instrument 42 via the first and/or second electrically conductive portions, such that when one of the first and second electrically conductive portions is electrically conductive to the electrode post 475, the electrode post 475 transfers monopolar energy from the high frequency energy generator to the instrument 42 to cause the instrument 42 to perform a tissue or vessel cut; when the first and second electrically conductive portions are simultaneously in electrical communication with the electrode post 475, the electrode post 475 transfers bipolar energy from the high frequency energy generator to the instrument 42 to cause the instrument 42 to perform a tissue or vessel cut. It can be seen that the present embodiment can cooperate with an external device (e.g. a high-frequency surgical instrument) and a minimally invasive surgical robot through the energy adapter 47, and can transmit the monopolar energy or the bipolar energy transmitted by the high-frequency energy generator of the high-frequency surgical instrument to the instrument 42 of the minimally invasive surgical robot, so that the instrument 42 can adapt to different surgical site operations; when the instrument 42 of the minimally invasive surgical robot rotates, the energy adapter 47 can still continuously transmit monopolar energy or bipolar energy to the instrument 42, so that the instrument 42 has piercing capability, and a cutting function is realized; an instrument channel 4745 for the instrument 42 to penetrate is arranged in the bipolar shaft 4740, a sterile channel can be provided for the instrument 42 of the minimally invasive surgery robot, and the bipolar shaft 4740 is in transmission connection with the instrument 42 penetrating in the bipolar shaft 4740 so as to drive the instrument 42 to rotate when the bipolar shaft 4740 rotates; in addition, the energy adapter 47 has fewer parts, simple structure and small occupied space, and is beneficial to the development of the minimally invasive surgical robot to miniaturization.

In a preferred embodiment of the present invention, referring to fig. 4 and 5, the first conductive part is a first conductive half shaft 4741, the second conductive part is a second conductive half shaft 4742, the first conductive half shaft 4741 and the second conductive half shaft 4742 extend in the axial direction of the bipolar shaft 4740, and the insulating part is an insulating clamping plate 4743; an insulating splint 4743 is sandwiched between the first conductive half shaft 4741 and the second conductive half shaft 4742; the electrode column 475 includes a first contact electrode connected to the first semi-conductive shaft 4741 and a second contact electrode connected to the second semi-conductive shaft 4742.

Specifically, as shown in fig. 4 and 5, the first conductive portion may be configured as a first conductive half shaft 4741, the second conductive portion may be configured as a second conductive half shaft 4742, the first conductive half shaft 4741 and the second conductive half shaft 4742 extend in the axial direction of the bipolar shaft 4740, the insulating portion may be configured as an insulating clip 4743, the insulating clip 4743 is interposed between the first conductive half shaft 4741 and the second conductive half shaft 4742 to form the bipolar shaft 4740, the cross-sectional shape of the bipolar shaft 4740 is circular ring-shaped, and the inside is hollow to form the above-described instrument channel 4745. It should be noted that, in this embodiment, the structures of the first conductive half shaft 4741 and the second conductive half shaft 4742 are the same, in the drawing, the first conductive half shaft 4741 and the second conductive half shaft 4742 are symmetrical with respect to the axis of the bipolar shaft 4740, of course, the first conductive half shaft 4741 and the second conductive half shaft 4742 may also be different, and the specific structures of the first conductive half shaft 4741 and the second conductive half shaft 4742 may be set according to actual requirements, which may not be limited in this embodiment.

Specifically, the electrode column 475 includes a first contact electrode electrically connected to the first semi-conductive shaft 4741 and a second contact electrode electrically connected to the second semi-conductive shaft 4742 such that the electrode column 475 is electrically connected to the instrument 42 via the first semi-conductive shaft 4741 and/or the second semi-conductive shaft 4742. Illustratively, when the first half-axis 4741 is in electrical communication with the first contact electrode, the first contact electrode of the electrode column 475 transfers monopolar energy transferred from the high-frequency energy generator to the instrument 42, or when the second half-axis 4742 is in electrical communication with the second contact electrode, the second contact electrode of the electrode column 475 transfers monopolar energy transferred from the high-frequency energy generator to the instrument 42, and when the monopolar energy is transferred from the first half-axis 4741 or the second half-axis 4742, the monopolar energy is transferred in the "bipolar axis 4740" configuration, which ensures that the instrument 42 can transfer high-frequency energy while rotating; when first half-shaft 4741 is in electrical communication with a first contact electrode while second half-shaft 4742 is in electrical communication with a second contact electrode, the first and second contact electrodes of electrode column 475 transfer bipolar energy from the high frequency energy generator to instrument 42.

It should be noted that the shape of the first conductive part and the second conductive part of the present embodiment is not limited to the shape in the drawings, and may also be a cylindrical shaft, and the cylindrical shaft is axially divided into a first conductive segment, a second conductive segment and an insulating segment, the first conductive segment and the second conductive segment are insulated by the insulating segment, the electrode column 475 is electrically connected to the instrument 42 through the first conductive segment and/or the second conductive segment, so that when one of the first conductive segment and the second conductive segment is electrically conducted with the electrode column 475, the instrument 42 obtains unipolar energy transferred by the electrode column 475, and when the first conductive segment and the second conductive segment are simultaneously electrically conducted with the electrode column 475, the instrument 42 obtains bipolar energy transferred by the electrode column 475. In the following description of the present embodiment, the first conductive part is referred to as a first half conductive shaft 4741, and the second conductive part is referred to as a second half conductive shaft 4742.

In an embodiment of the present invention, referring to fig. 5-9, the insulating clamp plate 4743 comprises a first insulating sheet 47431 and a second insulating sheet 47432, the first conductive half shaft 4741 comprises a first clamping surface 47411 and a second clamping surface 47412 facing the second conductive half shaft 4742, the second conductive half shaft 4742 comprises a third clamping surface 47421 and a fourth clamping surface 47422 facing the first conductive half shaft 4741; the first and third clamping surfaces 47411 and 47421 clamp the first insulating sheet 47431 with the contour of the first, third and first insulating

sheets

47411, 47421 conforming to the contour of the first insulating sheet 47431, and the second and fourth clamping surfaces 47412 and 47422 clamp the second insulating sheet 47432 with the contour of the second, fourth and second insulating

sheets

47412, 47422 conforming to the contour of the second insulating sheet 47432.

Specifically, as shown in fig. 5, the insulating clamp plate 4743 includes a first insulating plate 47431 and a second insulating plate 47432, the first insulating plate 47431 and the second insulating plate 47432 may be made of plastic, rubber or other insulating material having insulating properties, and the materials of the two insulating plates are preferably the same, but may be different from each other, and may be selected according to actual circumstances.

Specifically, as shown in fig. 6 and 8, the first conductive half shaft 4741 includes a first clamping surface 47411 and a second clamping surface 47412 facing the second conductive half shaft 4742, the second conductive half shaft 4742 includes a third clamping surface 47421 and a fourth clamping surface 47422 facing the first conductive half shaft 4741, the first clamping surface 47411 and the third clamping surface 47421 clamp the first insulating sheet 47431, and the second clamping surface 47412 and the fourth clamping surface 47422 clamp the second insulating sheet 47432. Illustratively, as shown in fig. 7, the surface of the first insulating sheet 47431 facing the first clamping surface 47411 is provided with at least one first raised structure 47433, as shown in fig. 6, the first clamping surface 47411 of the first half conductive shaft 4741 is provided with a first groove 47413 at a position opposite to the first raised structure 47433, and one first raised structure 47433 is embedded in one first groove 47413, so that the first insulating sheet 47431 can be firmly connected to the first clamping surface 47411; the surface of the first insulating sheet 47431 facing the third clamping surface 47421 is provided with at least one second protrusion structure, the third clamping surface 47421 of the second half conductive shaft 4742 is provided with a second groove 47423 at a position opposite to the second protrusion structure, and one second protrusion structure is embedded in one second groove 47423, so that the first insulating sheet 47431 can be stably connected to the third clamping surface 47421; at least one third protrusion structure is formed on the surface of the second insulating sheet 47432 facing the second clamping surface 47412, a third groove 47414 is formed on the second clamping surface 47412 of the first half conductive shaft 4741 at a position opposite to the third protrusion structure, and a third protrusion structure is embedded in the third groove 47414, so that the second insulating sheet 47432 can be stably connected to the second clamping surface 47412; at least one fourth convex structure is arranged on the surface of the second insulating sheet 47432 facing the fourth clamping surface 47422, a fourth groove 47424 is arranged on the fourth clamping surface 47422 of the second half conductive shaft 4742 at a position opposite to the fourth convex structure, and a fourth convex structure is embedded in the fourth groove 47424, so that the second insulating sheet 47432 can be stably connected with the fourth clamping surface 47422; in this way, the first and second insulating sheets 47431 and 47432 may be securely sandwiched between the first and second electrically conductive half shafts 4741 and 4742.

It should be noted that the first protruding structure 47433, the second protruding structure, the third protruding structure and the fourth protruding structure are the same in structure, and then the first groove 47413, the second groove 47423, the third groove 47414 and the fourth groove 47424 are the same in structure. Taking the first raised structure 47433 as an example, in fig. 7, the cross-sectional shape of the first raised structure 47433 is a rectangle, and the cross-sectional shape of the first groove 47413 matches the cross-sectional shape of the first raised structure 47433, which is also a rectangle, it goes without saying that the cross-sectional shape of the first raised structure 47433 is not limited to a rectangle, and may also be a square, a trapezoid, a triangle, or other shape, and it may be specifically set according to actual conditions, and this embodiment does not limit this, and the cross-sectional shape of the first groove 47413 may match the cross-sectional shape of the first raised structure 47433. In addition, two first raised structures 47433 are shown in the figures, but other numbers are possible, such as: 3, 4, etc., in this embodiment, the number of the first raised structures 47433 may not be limited, and may be specifically set according to actual situations. The number of the second protruding structures, the third protruding structures, and the fourth protruding structures is preferably the same as that of the first protruding structures 47433, and of course, may be different, and may be specifically set according to actual situations.

In an embodiment of the present invention, referring to fig. 4, 5, 8-11, bipolar shaft assembly 474 further comprises: a first metal ring 476 and a second metal ring 477; a first metal ring 476 and a second metal ring 477 are sleeved on the outer wall of the bipolar shaft 4740 at intervals, the first metal ring 476 is fixedly connected and conductively connected with a first conductive half shaft 4741, the first metal ring is insulated from a second conductive half shaft 4742, the second metal ring 477 is fixedly connected and conductively connected with the second conductive half shaft 4742, and the second metal ring 477 is insulated from the first conductive half shaft 4741; a first contact electrode contacts the first metal ring 476 to electrically connect to the first half shaft 4741, and a second contact electrode contacts the second metal ring 477 to electrically connect to the second half shaft 4742.

Specifically, as shown in fig. 4 and 5, bipolar shaft assembly 474 further includes first and second metal rings 476, 477, each of which is a hollow circular ring. A first metal ring 476 and a second metal ring 477 are arranged on the outer wall of the bipolar shaft 4740 at intervals, the first metal ring 476 and the first conductive half shaft 4741 can be fixedly connected together by welding, fastening, etc., the first metal ring 476 is electrically connected with the first conductive half shaft 4741 and insulated from the second conductive half shaft 4742, a first contact electrode of the electrode column 475 is contacted with the first metal ring to be electrically connected with the first conductive half shaft 4741, so that the first metal ring 476 and the first conductive half shaft 4741 can form a first electrode; the second metal ring 477 and the second half conductive shaft 4742 may be fixedly connected together by welding, fastening, or the like, and the second metal ring 477 is conductively connected to the second half conductive shaft 4742 and insulated from the first half conductive shaft 4741, and a second contact electrode of the electrode post 475 is in contact with the second metal ring 477 to be electrically connected to the second half conductive shaft 4742, such that the second metal ring 477 and the second half conductive shaft 4742 form a second electrode.

In an embodiment of the present invention, referring to fig. 12, bipolar shaft assembly 474 further comprises: an insulative bushing 478; the insulating shaft sleeve 478 is sleeved on the outer wall of the bipolar shaft 4740, the insulating shaft sleeve 478 comprises a first sleeved section 4781 and a second sleeved section 4782 which extend towards different directions, a first opening 47811 is arranged on the first sleeved section 4781, and a second opening 47821 is arranged on the second sleeved section 4782; the first metal ring 476 is sleeved on the first sleeving section 4781, the first sleeving section 4781 is clamped between the first metal ring 476 and the second conductive half shaft 4742 so as to insulate the first metal ring 476 from the second conductive half shaft 4742, and the first metal ring 476 is conductively connected with the first conductive half shaft 4741 through the first opening 47811; the second metal ring 477 is sleeved on the second sleeving section 4782, the second sleeving section 4782 is clamped between the second metal ring 477 and the first half-conductive shaft 4741 so as to insulate the second metal ring 477 from the first half-conductive shaft 4741, and the second metal ring 477 is conductively connected with the second half-conductive shaft 4742 through the second opening 47821.

Specifically, as shown in fig. 12, the insulative bushing 478 is a hollow cylinder and is disposed on the outer wall of the bipolar shaft 4740. The insulating sleeve 478 may be made of plastic, rubber or other insulating materials with insulating properties, which is not limited in this embodiment and may be selected according to actual situations.

Specifically, as shown in fig. 12, the insulative bushing 478 may include a first nesting section 4781 and a second nesting section 4782, the first nesting section 4781 and the second nesting section 4782 extending in different directions, and the first nesting section 4781 and the second nesting section 4782 are coaxially disposed because the bipolar axis is one axis. A first opening 47811 is provided on the first nesting section 4781, a second opening 47821 is provided on the second nesting section 4782, and the first opening 47811 and the second opening 47821 are located on two sides of the axis of the insulating sleeve 478.

Specifically, as shown in fig. 4, the first metal ring 476 is sleeved on an outer wall of the first bushing section 4781, and the first bushing section 4781 is sandwiched between the first metal ring 476 and the second conductive half shaft 4742, that is, the first opening 47811 is opposite to the first conductive half shaft 4741, so that the first metal ring 476 can be insulated from the second conductive half shaft 4742, and the first metal ring 476 can be electrically connected to the first conductive half shaft 4741 through the first opening 47811, so that the first metal ring 476 forms an independent first electrode when being in conduction with the first conductive half shaft 4741.

Specifically, as shown in fig. 4, the second metal ring 477 is sleeved on the outer wall of the second sleeving section 4782, and the second sleeving section 4782 is sandwiched between the second metal ring 477 and the first half-conductive shaft 4741, that is, the second opening 47821 is opposite to the second half-conductive shaft 4742, so that the second metal ring 477 is not only insulated from the first half-conductive shaft 4741, but also electrically connected to the second half-conductive shaft 4742 through the second opening 47821, and thus, when the second metal ring 477 is electrically connected to the second half-conductive shaft 4742, an independent second electrode is formed.

In the embodiment of the present invention, as shown in fig. 8, the inner wall of the first metal ring 476 is provided with a first boss 4762 at a position corresponding to the first opening 47811, the first boss 4762 is provided along the inner wall of the first metal ring 476, the first boss 4762 is in contact with the first half conductive shaft 4741 to electrically connect the first metal ring 476 with the first half conductive shaft 4741; referring to fig. 13, the inner wall of the second metal ring 477 is provided with a second projection 4772 at a position corresponding to the second opening 47821, the second projection 4772 is disposed along the inner wall of the second metal ring 477, and the second projection 4772 contacts the second half shaft 4742 to conductively connect the second metal ring 477 and the second half shaft 4742.

Specifically, as shown in fig. 8, the inner wall of the first metal ring 476 is provided with a first boss 4762 at a position corresponding to the first opening 47811, the first boss 4762 is provided along the inner wall of the first metal ring 476, that is, the first boss 4762 is provided in the circumferential direction of the first metal ring 476, and the length of the first boss 4762 in the circumferential direction is equal to or less than the length of the first opening 47811 in the circumferential direction. The surface of the first boss 4762 away from the inner wall of the first metallic ring 476 is in contact with the first half conductive shaft 4741 to electrically connect the first metallic ring 476 with the first half conductive shaft 4741.

Specifically, as shown in fig. 9 and 12, the inner wall of the second metal ring 477 is provided with a second boss 4772 at a position corresponding to the second opening 47821, the second boss 4772 is provided along the inner wall of the second metal ring 477, that is, the second boss 4772 is provided in the circumferential direction of the second metal ring 477, and the length of the second boss 4772 in the circumferential direction is equal to or less than the length of the second opening 47821 in the circumferential direction. The surface of the second boss 4772 remote from the inner wall of the second metal ring 477 contacts the second half-shaft 4742 to conductively couple the second metal ring 477 with the second half-shaft 4742.

In an embodiment of the present invention, as shown in fig. 8, a first connection hole 4761 is provided on the first metal ring 476, and a first connection hole 4761 is opposite to the first opening 47811 for welding the first metal ring 476 to the first half shaft 4741; a second attachment bore 4771 is provided in the second metal ring 477, the second attachment bore 4771 being opposite the second opening 47821 for welding the second metal ring 477 to the second half shaft 4742.

Specifically, it is preferable that the first metal ring 476 is fixedly connected to the first half conductive shaft 4741 by welding, and in order to weld the first metal ring 476 to the first half conductive shaft 4741, the present embodiment provides a first connection hole 4761 in the first metal ring 476, and the first connection hole 4761 faces the first opening 47811. The area of the first connection hole 4761 is smaller than that of the first opening 47811, and the shape of the first connection hole 4761 is shown as a circle, but is not limited to a circle, and may also be an ellipse, a rectangle, a square, or other shapes.

Similarly, it is preferable that the second metal ring 477 is fixedly connected to the second half conductive shaft 4742 by welding, and in order to weld the second metal ring 477 to the second half conductive shaft 4742, as shown in fig. 13, the second metal ring 477 is provided with a second connecting hole 4771, and the second connecting hole 4771 is opposed to the second opening 47821. The area of the second connecting hole 4771 is smaller than the area of the second opening 47821, and the shape of the second connecting hole 4771 is illustrated as a circle, but is not limited to a circle, and may also be an ellipse, a rectangle, a square, or other shapes.

In an embodiment of the present invention, as shown in fig. 12, insulative bushing 478 further includes a shoulder section 4783, shoulder section 4783 is connected between first and

second nesting sections

4781, 4782; the shoulder section 4783 has an outer diameter larger than the outer diameters of the first and

second nesting sections

4781, 4782, and the shoulder section 4783 is sandwiched between the first and second metal rings 476, 477 to insulate the first and second metal rings 476, 477 in the axial direction.

As shown in fig. 12, the shoulder section 4783 has a length in the axial direction that is less than the length of the first nesting section 4781 and the second nesting section 4782. In the illustration, the length of the first nesting section 4781 is equal to the length of the second nesting section 4782, but it may also be unequal, and during the setting, it is only necessary to ensure that the length of the first nesting section 4781 matches with the length of the first metal ring 476, and the length of the second nesting section 4782 matches with the length of the second metal ring 477.

It should be noted that in this embodiment, it is preferable that the structures of the first metal ring 476 and the second metal ring 477 are the same, and of course, the structures of the first metal ring 476 and the second metal ring 477 may also be different, and the specific requirements are set according to actual situations.

In an embodiment of the present invention, as shown in fig. 4, 5 and 11, bipolar shaft assembly 474 further comprises: an insulating collar 484, a first insulating sleeve 485 and a second insulating sleeve 486; in a direction from one end (left end shown) to the other end (right end shown) of the bipolar shaft 4740, the insulating collar 484, the first insulating sleeve 485, and the second insulating sleeve 486 are respectively fitted over the outer wall of the bipolar shaft 4740; insulative bushing 478 is positioned between first insulative bushing 485 and second insulative bushing 486.

Specifically, in a direction from one end (left end in the drawing) to the other end (right end in the drawing) of the bipolar shaft 4740, an insulating collar 484, a first insulating sleeve 485, an insulating sleeve 478, and a second insulating sleeve 486 are sequentially fitted over the outer wall of the bipolar shaft 4740, and the insulating collar 484, the first insulating sleeve 485, the insulating sleeve 478, and the second insulating sleeve 486 radially insulate the two conductive half shafts. Insulating retainer 484, first insulating sleeve 485, insulating sleeve 478, second insulating sleeve 486, first semi-conductive shaft 4741, second semi-conductive shaft 4742, first insulating sheet 47431, and second insulating sheet 47432 form a bipolar shaft assembly 474.

In an embodiment of the present invention, as shown in fig. 1, 2, 8 to 9, the energy adapter 47 further includes: a first electrode pad 481 and a second electrode pad 482; one end of the first electrode pad 481 is in contact connection with the first metal ring 476, and the other end is in contact connection with the first contact electrode to form a first electrode loop; one end of the second electrode pad 482 is in contact with the second metal ring 477, and the other end is in contact with the second contact electrode to form a second electrode loop.

Specifically, as shown in fig. 1, 2, and 8 to 9, one end (lower end in the drawing) of the first electrode tab 481 is connected in contact with the first metal ring 476, and the other end (upper end in the drawing) of the first electrode tab 481 is connected in contact with the first contact electrode, so that the first electrode tab 481, the first metal ring 476, and the first half conductive shaft 4741 can form a first electrode loop. One end (lower end as shown) of the second electrode piece 482 is in contact with the second metal ring 477, and the other end (upper end as shown) of the second electrode piece 482 is in contact with the second contact electrode, so that the second electrode piece 482, the second metal ring 477, and the second half shaft 4742 may form a second electrode circuit.

In the embodiment of the present invention, the first electrode pad 481 has elasticity to be in close contact with the first metal ring 476 and the first contact electrode; the second electrode pad 482 has elasticity to be in close contact with the second metal ring 477 and the second contact electrode.

In practice, the first electrode pad 481 and the second electrode pad 482 are both preferably stainless steel sheets, but other conductive and elastic materials may be selected. In order to secure the reliability of energy transfer, the first electrode pad 481 of the present embodiment has elasticity to be in close contact with the first metal ring 476 and the first contact electrode, and the second electrode pad 482 has elasticity to be in close contact with the second metal ring 477 and the second contact electrode.

In the embodiment of the present invention, as shown in fig. 2 and 8, the other end of the first electrode plate 481 is a first arc-shaped structure 4811, the first arc-shaped structure 4811 is bent in a direction away from the axis of the bipolar shaft 4740, and the first arc-shaped structure 4811 can increase the contact area between the first electrode plate 481 and the first contact electrode, so that the other end of the first electrode plate 481 is in contact with the first contact electrode more tightly, thereby ensuring the reliability of energy transmission. The other end of the second electrode piece 482 is a second arc-shaped structure 4821, the second arc-shaped structure 4821 is bent along the direction deviating from the axis of the bipolar shaft 4740, and the second arc-shaped structure 4821 can increase the contact area of the second electrode piece 482 and the second contact electrode, so that the other end of the second electrode piece 482 is in contact with the second contact electrode more tightly, and the reliability of energy transfer is ensured.

In an embodiment of the present invention, as shown in fig. 1 and 2, the energy adapter 47 further comprises: a support 483; the support 483 is fixedly connected with the framework 471, and a first mounting hole and a second mounting hole are formed in the support 483; one end of the first electrode plate 481 is inserted into the first mounting hole to be in contact connection with the first metal ring 476; one end of the second electrode plate 482 penetrates through the second mounting hole to be in contact connection with the second metal ring 477.

Specifically, since the other end of the first electrode plate 481 is the first arc-shaped structure 4811, when the first electrode plate 481 is mounted on the support 483, one end of the first electrode plate 481 can be inserted into the first mounting hole to be in contact with the first metal ring 476; similarly, since the other end of the second electrode plate 482 has the second arc-shaped structure 4821, when the first electrode plate 481 is mounted on the bracket 483, the one end of the second electrode plate 482 may be inserted into the second mounting hole to be in contact with the second metal ring 477.

Preferably, the first electrode pad 481 and the second electrode pad 482 have the same structure, so that the manufacturing cost can be reduced, and the energy adapter 47 has a relatively neat structure, so that the first mounting hole and the second mounting hole have the same shape. Of course, the first electrode pad 481 and the second electrode pad 482 may have different structures, and may be specifically set according to actual requirements, where the shape of the first mounting hole is adapted to the first electrode pad 481, and the second mounting hole is adapted to the second electrode pad 482. In order that the first electrode tab 481 may be secured within the first mounting hole, the first electrode tab 481 may transition or interference fit with the first mounting hole; likewise, the second electrode tab 482 may transition or interference fit with the second mounting hole in order that the second electrode tab 482 may be secured within the second mounting hole.

In an embodiment of the present invention, as shown in FIG. 6, first splines 47410 are provided on an inner wall of first half shaft 4741 for driving engagement with the implement 42; a second spline 47420 is arranged on the inner wall of the second conductive half shaft 4742 to be in transmission fit with the instrument 42; the inner wall of the first semi-conductive shaft 4741, the inner wall of the second semi-conductive shaft 4742 and the insulating splints 4743 collectively enclose an instrument channel 4745.

In practice, in order to make the first half conductive shaft 4741 and the second half conductive shaft 4742 drivingly engage with the instrument 42, the present embodiment is provided with a structure for engaging with the instrument 42 on the inner wall of the first half conductive shaft 4741 and the inner wall of the second half conductive shaft 4742, respectively, according to the actual structure of the instrument channel 4745 through which the instrument 42 passes the bipolar shaft 4740, as shown in fig. 6, and the first spline 47410 is provided on the inner wall of the first half conductive shaft 4741, as shown in fig. 4, and the second spline 47420 is provided on the inner wall of the second half conductive shaft 4742. Moreover, the inner wall of the first conductive half shaft 4741, the inner wall of the second conductive half shaft 4742 and the two insulating sheets of the insulating clamp plate 4743 together enclose an instrument channel 4745 through which the instrument 42 passes.

In an embodiment of the present invention, as shown in fig. 2 and 3, the energy adapter 47 further comprises: worm 472 and worm wheel 473; the worm 472 is rotatably connected to the frame 471 in a first direction and is used for connecting with a motor; the double pole shaft 4740 is disposed along a second direction, and the worm wheel 473 is fixedly sleeved on the double pole shaft 4740 and is engaged with the worm 472, wherein the second direction is perpendicular to the first direction.

In practice, the present embodiment may add a worm and worm gear reduction mechanism to the energy adapter 47, since the torque directly output by the motor may not meet the requirement for rotation of the instrument 42. The worm 472 is rotatably coupled to the frame 471 in a first direction (illustrated as a vertical direction), i.e., the worm 472 is rotatable relative to the frame 471, and the worm 472 is coupled to the motor; the bipolar shaft 4740 is arranged along a second direction (a horizontal direction shown in the figure), and the worm wheel 473 is fixedly sleeved on the bipolar shaft 4740 and is meshed with the worm 472, so that the minimally invasive surgery robot motor can drive the worm 472 to rotate, and the rotation of the worm 472 drives the worm wheel 473 to rotate, so that the bipolar shaft 4740 is driven to rotate, and the instrument 42 is driven to rotate.

In the embodiment of the present invention, as shown in fig. 2 and 3, the skeleton 471 includes: a first mounting plate 4711 and a second mounting plate 4712 disposed opposite to each other in a first direction, and a third mounting plate 4713 and a fourth mounting plate 4714 disposed opposite to each other in a second direction; the first mounting plate 4711 and the second mounting plate 4712 are connected to the fourth mounting plate 4714 by a third mounting plate 4713; one end of the worm 472 penetrates through the first mounting plate 4711 and can rotate relative to the first mounting plate 4711, and the other end of the worm 472 penetrates through the second mounting plate 4712 and can rotate relative to the second mounting plate 4712; one end of the dipole shaft 4740 is inserted into the third mounting plate 4713 and is rotatable with respect to the third mounting plate 4713, and the other end of the dipole shaft 4740 is inserted into the fourth mounting plate 4714 and is rotatable with respect to the fourth mounting plate 4714.

Specifically, as shown in fig. 2 and 3, the first mounting plate 4711 and the second mounting plate 4712 are provided at intervals in the horizontal direction, the third mounting plate 4713 and the fourth mounting plate 4714 are provided at intervals in the vertical direction, and the third mounting plate 4713 and the fourth mounting plate 4714 are located between the first mounting plate 4711 and the second mounting plate 4712. The upper ends of the first mounting plate 4711 and the third mounting plate 4713 are fixedly connected by fasteners, the upper end of the fourth mounting plate 4714 is fixedly connected by fasteners, the lower ends of the second mounting plate 4712 and the third mounting plate 4713 are fixedly connected by fasteners, and the lower end of the fourth mounting plate 4714 is fixedly connected by fasteners. The fastener can be a screw, a self-tapping screw or other fasteners for fastening, and can be selected according to actual requirements. The number of the fasteners connecting the mounting plates may be 2, 3, 4 or other numbers, which is not limited in this embodiment and may be set according to actual requirements. Moreover, the position of the through fastener does not need to be set with the third mounting hole in advance, and can be set according to the type of the fastener, for example, the screw is selected in the embodiment, and as shown in fig. 2 and 3, the third mounting hole 4715 needs to be set in advance at the position of the through fastener.

As shown in fig. 1 and 2, the height of the third mounting plate 4713 is equal to the height of the fourth mounting plate 4714, so that the frame 471 has a neat structure and is easy to mount.

Specifically, the upper end of the worm 472 is inserted through the first mounting plate 4711 and is rotatable with respect to the first mounting plate 4711, and the lower end of the worm 472 is inserted through the second mounting plate 4712 and is rotatable with respect to the second mounting plate 4712. The left end of the bipolar shaft 4740 is inserted through the third mounting plate 4713 and is rotatable relative to the third mounting plate 4713, and the right end of the bipolar shaft 4740 is inserted through the fourth mounting plate 4714 and is rotatable relative to the fourth mounting plate 4714.

To further balance and stabilize the dipole shaft 4740 during rotation, one end of the dipole shaft 4740 is inserted through a middle region of the third mounting plate 4713 and the other end is inserted through a middle region of the fourth mounting plate 4714. While the worm is located near the third mounting plate 4713, the specific location of the worm 472 in this embodiment is not limited, and may be set according to the specific location of the motor and the double-pole shaft 4740 connected thereto.

In the present embodiment, referring to fig. 14, the worm 472 includes, in order from one end (upper end shown) to the other end (lower end shown): a first mounting section 4721, a gear section 4723, a second mounting section 4725 and a transmission section 4726, wherein the first mounting plate 4711 is provided with a first through hole 47111, and the second mounting plate 4712 is provided with a second through hole 47121; the first mounting section 4721 is provided with a first through hole 47111 and is in clearance fit with the first through hole 47111, so that the first mounting section 4721 can rotate in the first through hole 47111; the transmission section 4726 and the second mounting section 4725 sequentially penetrate through the second penetrating hole 47121, the second mounting section 4725 is in clearance fit with the second penetrating hole 47121 so that the second mounting section 4725 can rotate in the second penetrating hole 47121, and the transmission section 4726 is used for being connected with an output shaft of a motor; the gear section 4723 is in meshing engagement with the worm gear 473.

In practice, the output shaft of the motor of the minimally invasive surgical robot is connected with the input shaft of the reduction box, and the transmission section 4726 of the embodiment can be connected with the output shaft of the reduction box.

In the embodiment of the present invention, as shown in fig. 14, the transmission groove 47261 is provided on the transmission section 4726, and the transmission groove 47261 is used for connecting with the output shaft of the motor.

Specifically, the transmission section 4726 is provided with a transmission groove 47261 at an end remote from the gear section 4723, and the transmission groove 47261 may be connected to an output shaft of a motor or an output shaft of a reduction gear box. In the drawing, the shape of the transmission groove 47261 is circular, and in the present embodiment, the transmission groove 47261 can be coupled to the output shaft of the motor by a pin. The specific shape of the transfer groove 47261 may be other shapes such as an oval shape and a waist shape, and this embodiment is not limited thereto, and may be specifically set according to actual circumstances.

As shown in fig. 14, in order to allow the worm 472 to be installed without affecting the meshing connection of the worm 472 with the gear segment 4723, the worm 472 of the present embodiment further includes a first transition segment 4722 and a second transition segment 4724; a first transition 4722 is located between the first mounting section 4721 and an end of the gear section 4723 distal the transfer section 4726, and a second transition 4724 is located between the second mounting section 4725 and an end of the gear section 4723 proximal the transfer section 4726.

As shown in fig. 14, the diameter of the first mounting section 4721 is equal to the diameter of the second mounting section 4725, and the diameter of the first transition section 4722 is equal to the diameter of the second transition section 4724; the diameter of the first transition section 4722 is larger than the diameter of the first mounting section 4721.

As shown in fig. 14, the first mounting section 4721, the second mounting section 4725, the first transition section 4722, and the second transition section 4724 are all circular in cross-sectional shape, the transfer section is rectangular in cross-sectional shape, and the lower end surface of the transfer section is a circular arc surface.

As shown in fig. 3, the third mounting plate 4713 is provided with a third through hole 47131, one end of the dipole shaft 4740 is provided with a third through hole 47131, and the third through hole 47131 is in clearance fit, so that one end of the dipole shaft 4740 can rotate in the third through hole 47131; the fourth mounting plate 4714 is provided with a fourth through hole 47141, the other end of the bipolar shaft 4740 is provided with a fourth through hole 47141, and the fourth through hole 47141 is in clearance fit so that the other end of the bipolar shaft 4740 can rotate in the fourth through hole 47141.

The energy adapter provided by the embodiment of the invention at least has the following advantages:

the embodiment can match an external device (such as a high-frequency surgical instrument) with the minimally invasive surgery robot through the energy adapter, and can transmit monopolar energy or bipolar energy transmitted by a high-frequency energy generator of the high-frequency surgical instrument to an instrument of the minimally invasive surgery robot, so that the instrument can adapt to different surgical site operations; when the instrument of the minimally invasive surgical robot rotates, the energy adapter can still uninterruptedly transmit monopolar energy or bipolar energy to the instrument so that the instrument has piercing capability; the bipolar shaft is internally provided with an instrument channel for instruments to penetrate through, so that a sterile channel can be provided for the instruments of the minimally invasive surgical robot, and the bipolar shaft is in transmission connection with the instruments penetrating through the bipolar shaft so as to drive the instruments to rotate when the bipolar shaft rotates; the bipolar shaft has enough length, and can achieve the expected effect in the stroke of the minimally invasive surgery robot; in addition, the energy adapter has fewer parts, simple structure and small occupied space, and is beneficial to the development of the minimally invasive surgical robot to miniaturization.

In an embodiment of the present invention, there is also provided a minimally invasive surgical robot, as shown in fig. 1, comprising a base, a control adapter 48, a multifunctional channel 46, an instrument 42 and the above-mentioned energy adapter 47; the multi-functional passage 46 is connected to a base, which provides support and power for the multi-functional passage 46; the control adapter 48 is used for detecting whether the instrument 42 enters a working state or not, and the control adapter 48, the energy adapter 47 and the multifunctional channel device 46 are sequentially arranged and communicated with each other; the instrument 42 includes a control handle 427 and an end tool 421 connected, the end tool 421 passing through, in sequence, a control adaptor 48, an energy adaptor 47 and a multi-functional channel 46.

Specifically, the bipolar shaft 4740 of the energy adapter 47 is provided with an instrument channel 4745 for the end tool 421 of the instrument 42 to pass through, the minimally invasive surgical robot further comprises a motor, the bipolar shaft 4740 is in transmission connection with the motor and the end tool 421 of the instrument 42, so that the motor drives the bipolar shaft 4740 to rotate, thereby driving the end tool 421 of the instrument 42 to rotate, and in the process of rotating the end tool 421, the electrode column 475 of the energy adapter 47 continuously transmits the unipolar energy or the bipolar energy transmitted by the high-frequency energy generator to the instrument 42, so that the instrument 42 has the piercing capability, thereby realizing the cutting function.

It should be noted that the detailed structure and operation principle of the energy adapter are described in detail above, and are not described herein again.

The advantages of the minimally invasive surgical robot according to the embodiment of the invention are the same as those of the energy adapter, and are not described herein again.

It should be noted that, in the present specification, the embodiments are all described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other.

While alternative embodiments of the present invention have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including alternative embodiments and all such alterations and modifications as fall within the true scope of the embodiments of the invention.

Finally, it should also be noted that, in this document, relational terms such as first and second, and the like may be used solely to distinguish one entity from another entity without necessarily requiring or implying any actual such relationship or order between such entities. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that an article or terminal apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such article or terminal apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of additional like elements in the article or terminal device comprising the element.

While the technical solutions provided by the present invention have been described in detail, the principles and embodiments of the present invention are described herein by using specific examples, and meanwhile, for a person of ordinary skill in the art, according to the principles and implementation manners of the present invention, changes may be made in the specific embodiments and application ranges.

Claims

1. An energy adapter for use with a minimally invasive surgical robot, comprising: a backbone (471) and a bipolar shaft assembly (474);

an electrode column (475) is arranged on the framework (471), and the electrode column (475) is used for being connected with a high-frequency energy generator of external energy equipment and receiving unipolar energy or bipolar energy transmitted by the high-frequency energy generator;

the bipolar shaft assembly (474) comprises a bipolar shaft (4740) which is used for being in transmission connection with a motor of the minimally invasive surgery robot, two ends of the bipolar shaft (4740) are rotatably connected with the framework (471), an instrument channel (4745) for an instrument (42) of the minimally invasive surgery robot to pass through is arranged in the bipolar shaft (4740), and the bipolar shaft (4740) is used for being in transmission connection with the instrument (42);

the bipolar shaft (4740) comprises a first conductive portion, a second conductive portion, and an insulating portion, the first conductive portion and the second conductive portion being insulated by the insulating portion, the electrode column (475) being electrically connected to the instrument (42) by the first conductive portion and/or the second conductive portion such that the instrument (42) acquires the monopolar energy delivered by the electrode column (475) when one of the first conductive portion and the second conductive portion is electrically connected to the electrode column (475), the instrument (42) acquires the bipolar energy delivered by the electrode column (475) when the first conductive portion and the second conductive portion are simultaneously electrically connected to the electrode column (475);

wherein the first conductive portion is a first conductive half shaft (4741), the second conductive portion is a second conductive half shaft (4742), the first conductive half shaft (4741) and the second conductive half shaft (4742) extend in an axial direction of the bipolar shaft (4740), and the insulating portion is an insulating clamping plate (4743);

the insulating splint (4743) is clamped between the first conductive half shaft (4741) and the second conductive half shaft (4742);

the electrode column (475) comprises a first contact electrode connected with the first electrically conductive half-shaft (4741) and a second contact electrode connected with the second electrically conductive half-shaft (4742).

2. The energy adapter according to claim 1, characterized in that said insulating clamp plate (4743) comprises a first insulating plate (47431) and a second insulating plate (47432), said first electrically conductive half shaft (4741) comprising a first clamping surface (47411) and a second clamping surface (47412) facing said second electrically conductive half shaft (4742), said second electrically conductive half shaft (4742) comprising a third clamping surface (47421) and a fourth clamping surface (47422) facing said first electrically conductive half shaft (4741);

the first holding surface (47411) and the third holding surface (47421) hold the first insulating sheet (47431), and the first holding surface (47411), the third holding surface (47421) and the first insulating sheet (47431) are uniform in outer shape profile, the second holding surface (47412) and the fourth holding surface (47422) hold the second insulating sheet (47432), and the second holding surface (47412), the fourth holding surface (47422) and the second insulating sheet (47432) are uniform in outer shape profile.

3. The energy adapter of claim 1, wherein the bipolar shaft assembly (474) further comprises: a first metal ring (476) and a second metal ring (477);

the first metal ring (476) and the second metal ring (477) are sleeved on the outer wall of the bipolar shaft (4740) at intervals, the first metal ring (476) is fixedly connected and conductively connected with the first conductive half shaft (4741), the first metal ring is insulated from the second conductive half shaft (4742), the second metal ring (477) is fixedly connected and conductively connected with the second conductive half shaft (4742), and the second metal ring (477) is insulated from the first conductive half shaft (4741);

the first contact electrode is in contact with the first metal ring (476) to be electrically connected with the first half conductive shaft (4741), and the second contact electrode is in contact with the second metal ring (477) to be electrically connected with the second half conductive shaft (4742).

4. The energy adapter (47) of claim 3, wherein the bipolar shaft assembly (474) further comprises: an insulative bushing (478);

the insulating shaft sleeve (478) is sleeved on the outer wall of the bipolar shaft (4740), the insulating shaft sleeve (478) comprises a first sleeved section (4781) and a second sleeved section (4782) which extend towards different directions, a first opening (47811) is formed in the first sleeved section (4781), and a second opening (47821) is formed in the second sleeved section (4782);

the first metal ring (476) is sleeved on the first sleeving section (4781), the first sleeving section (4781) is clamped between the first metal ring (476) and the second conductive half shaft (4742) to insulate the first metal ring (476) from the second conductive half shaft (4742), and the first metal ring (476) is in conductive connection with the first conductive half shaft (4741) through the first opening (47811);

the second metal ring (477) is sleeved on the second sleeving section (4782), the second sleeving section (4782) is clamped between the second metal ring (477) and the first conductive half shaft (4741) to insulate the second metal ring (477) from the first conductive half shaft (4741), and the second metal ring (477) is in conductive connection with the second conductive half shaft (4742) through the second opening (47821).

5. The energy adapter according to claim 4, characterized in that the inner wall of the first metal ring (476) is provided with a first boss (4762) at a position corresponding to the first opening (47811), the first boss (4762) being provided along the inner wall of the first metal ring (476), the first boss (4762) being in contact with the first half conductive shaft (4741) to electrically conductively connect the first metal ring (476) with the first half conductive shaft (4741);

the inner wall of the second metal ring (477) is provided with a second boss (4772) at a position corresponding to the second opening (47821), the second boss (4772) is arranged along the inner wall of the second metal ring (477), and the second boss (4772) is in contact with the second conductive half shaft (4742) so as to lead the second metal ring (477) to be conductively connected with the second conductive half shaft (4742).

6. The energy adapter (47) of claim 5, wherein said first metal ring (476) is provided with a first connection hole (4761) thereon, said first connection hole (4761) being opposite said first opening (47811) for welding said first metal ring (476) to said first electrically conductive half shaft (4741);

a second connecting hole (4771) is formed in the second metal ring (477), and the second connecting hole (4771) is opposite to the second opening (47821) and used for welding the second metal ring (477) and the second conductive half shaft (4742).

7. The energy adapter (47) according to claim 5, wherein a length of the first boss (4762) in a circumferential direction is equal to or less than a length of the first opening (47811) in the circumferential direction, and a length of the second boss (4772) in the circumferential direction is equal to or less than a length of the second opening (47821) in the circumferential direction.

8. The energy adapter (47) according to claim 4, wherein the first opening (47811) and the second opening (47821) are located on either side of an axis of the insulative bushing (478);

the first nesting section (4781) and the second nesting section (4782) are coaxially arranged.

9. The energy adapter (47) of claim 4, wherein the insulative bushing (478) further includes a shoulder section (4783), the shoulder section (4783) connected between the first bushing section (4781) and the second bushing section (4782);

the shoulder section (4783) has an outer diameter larger than outer diameters of the first nesting section (4781) and the second nesting section (4782), and the shoulder section (4783) is sandwiched between the first metal ring (476) and the second metal ring (477) to insulate the first metal ring (476) and the second metal ring (477) in an axial direction.

10. The energy adapter (47) of claim 4, wherein the bipolar shaft assembly (474) further comprises: the insulation device comprises an insulation retainer ring (484), a first insulation sleeve (485) and a second insulation sleeve (486);

in the direction from one end to the other end of the bipolar shaft (4740), the insulating retainer ring (484), the first insulating sleeve (485) and the second insulating sleeve (486) are respectively sleeved on the outer wall of the bipolar shaft (4740);

the insulative bushing (478) is located between the first insulative bushing (485) and the second insulative bushing (486).

11. The energy adapter (47) according to claim 3, wherein the energy adapter (47) further comprises: a first electrode pad (481) and a second electrode pad (482);

one end of the first electrode sheet (481) is in contact connection with the first metal ring (476), and the other end of the first electrode sheet is in contact connection with the first contact electrode to form a first electrode loop;

one end of the second electrode sheet (482) is in contact connection with the second metal ring (477), and the other end of the second electrode sheet is in contact connection with the second contact electrode, so that a second electrode loop is formed.

12. The energy adapter (47) according to claim 11, wherein the first electrode tab (481) is resilient for intimate contact with the first metal ring (476) and the first contact electrode;

the second electrode pad (482) has elasticity to be in close contact with a second metal ring (477) and the second contact electrode.

13. The energy adapter (47) of claim 11, wherein the other end of the first electrode tab (481) is a first arcuate structure (4811), the first arcuate structure (4811) being curved in a direction away from the axis of the bipolar shaft (4740);

the other end of the second electrode plate (482) is a second arc-shaped structure (4821), and the second arc-shaped structure (4821) is bent along the direction deviating from the axis of the bipolar shaft (4740).

14. The energy adapter (47) according to claim 11, wherein the energy adapter (47) further comprises: a support (483);

the support (483) is fixedly connected with the framework (471), and a first mounting hole and a second mounting hole are formed in the support (483);

one end of the first electrode plate (481) penetrates through the first mounting hole to be in contact connection with the first metal ring (476);

one end of the second electrode plate (482) penetrates through the second mounting hole to be in contact connection with the second metal ring (477).

15. The energy adapter (47) according to claim 1, wherein the first electrically conductive half shaft (4741) is provided with first splines (47410) on an inner wall thereof for driving engagement with the instrument (42);

a second spline (47420) is arranged on the inner wall of the second conductive half shaft (4742) so as to be in transmission fit with the instrument (42);

the inner wall of the first conductive half shaft (4741), the inner wall of the second conductive half shaft (4742) and the insulating splint (4743) collectively enclose the instrument channel (4745).

16. The energy adapter (47) according to claim 1, wherein the energy adapter (47) further comprises: a worm (472) and a worm gear (473);

the worm (472) is rotatably connected to the framework (471) along a first direction and is used for being connected with a motor of the minimally invasive surgery robot;

the double-pole shaft (4740) is arranged along a second direction, the worm wheel (473) is fixedly sleeved on the double-pole shaft (4740) and is in meshed connection with the worm (472), and the second direction is perpendicular to the first direction.

17. The energy adapter (47) of claim 16, wherein the skeleton (471) further comprises: a first mounting plate (4711) and a second mounting plate (4712) disposed opposite each other in the first direction, and a third mounting plate (4713) and a fourth mounting plate (4714) disposed opposite each other in the second direction;

the first mounting plate (4711) and the second mounting plate (4712) are connected to the fourth mounting plate (4714) by the third mounting plate (4713);

one end of the worm (472) penetrates through the first mounting plate (4711) and can rotate relative to the first mounting plate (4711), and the other end of the worm (472) penetrates through the second mounting plate (4712) and can rotate relative to the second mounting plate (4712);

one end of the double-pole shaft (4740) penetrates through the third mounting plate (4713) and can be opposite to the third mounting plate (4713) in rotation, the other end of the double-pole shaft (4740) penetrates through the fourth mounting plate (4714) and can be opposite to the fourth mounting plate (4714) in rotation.

18. The energy adapter (47) of claim 17, wherein said worm (472) comprises, in order from one end to the other: the gear transmission device comprises a first mounting section (4721), a gear section (4723), a second mounting section (4725) and a transmission section (4726), wherein a first through hole (47111) is formed in the first mounting plate (4711), and a second through hole (47121) is formed in the second mounting plate (4712);

the first mounting section (4721) penetrates through the first penetrating hole (47111) and is in clearance fit with the first penetrating hole (47111);

the transmission section (4726) and the second installation section (4725) are sequentially arranged in the second through hole (47121) in a penetrating mode, the second installation section (4725) is in clearance fit with the second through hole (47121), and the transmission section (4726) is used for being connected with an output shaft of the motor;

the gear section (4723) is in meshed connection with the worm gear (473).

19. The energy adapter (47) according to claim 18, wherein the transfer section (4726) is provided with a transfer slot (47261), the transfer slot (47261) being adapted for connection with an output shaft of the electric machine.

20. The energy adapter (47) according to claim 18, wherein the worm (472) further comprises a first transition section (4722) and a second transition section (4724);

the first transition section (4722) is located between the first mounting section (4721) and an end of the gear section (4723) distal from the transfer section (4726), and the second transition section (4724) is located between the second mounting section (4725) and an end of the gear section (4723) proximal to the transfer section (4726).

21. The energy adapter (47) according to claim 20, wherein the diameter of the first mounting section (4721) is equal to the diameter of the second mounting section (4725), and the diameter of the first transition section (4722) is equal to the diameter of the second transition section (4724);

the first transition section (4722) has a diameter greater than a diameter of the first mounting section (4721).

22. A minimally invasive surgical robot, comprising a base, a control adapter (48), a multifunctional channel (46), an instrument (42) and an energy adapter (47) according to any one of claims 1 to 21;

the multifunctional passage device (46) is connected with the base, and the base provides support and power for the multifunctional passage device (46);

the control adapter (48) is used for detecting whether the instrument (42) enters a working state or not, and the control adapter (48), the energy adapter (47) and the multifunctional channel device (46) are sequentially arranged and communicated with each other;

the instrument (42) includes a control handle (427) and a tip tool (421) connected, the tip tool (421) passing through the control adaptor (48), the energy adaptor (47), and the multi-functional channel (46) in sequence.